CN103399327A - Beidou system-based satellite signal optimizing system and method - Google Patents
Beidou system-based satellite signal optimizing system and method Download PDFInfo
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Abstract
The invention discloses a Beidou system-based satellite signal optimizing system and a Beidou system-based satellite signal optimizing method. The system comprises an upper computer, an intelligent obstacle avoiding cart, a passive Beidou system, an antenna posture control system, a power system and a monitoring system, wherein the passive Beidou system comprises a Beidou receiving antenna, a radio frequency module, an FPGA (Field Programmable Gate Array) and a DSP (Digital Signal Processor); the antenna posture control system comprises a driving module, an ultrasonic transducer and an ARM (Advanced RISC Machines) processor; the power system comprises a solar battery group and a solar battery controller; and the monitoring system comprises monitoring equipment, transmission equipment and display equipment. The system and the method have the characteristics of high energy source utilization rate and good signal quality of a searching satellite. The running state parameters of the system and the quality parameters of a satellite signal are forecasted by using a signal optimizing algorithm, the defects of unstable algorithm signal and execution lag of control command of the satellite signal are overcome, the satellite signal with high quality can be intelligently tracked through the combination between a radar laser-based mobile car and the Beidou receiving antenna, and the quality of the received satellite signal is improved.
Description
Technical field
The invention belongs to electronic information technical field, be specifically related to a kind of optimizing of satellite-signal based on dipper system system and method.
Background technology
Satellite navigation and location system all has important impact to economic development, social benefit and military field, and China pays much attention to the construction of satellite navigation and location system and development, makes great efforts all the time to explore and research." Beidou satellite navigation and positioning system " (be called for short " dipper system ") be by China's row research and development in vain, independent operating can be covering the whole world satellite navigation and location system, be at present the networking stage.This system, in a lot of fields such as mapping, communication, communications and transportation, public safety and mitigation disaster relief successful Application, has been brought significant economic benefit and social benefit.
" dipper system ", as a kind of new satellite navigation and location system, has obvious technical advantage, but certain applied defect and deficiency are also arranged.Wherein, the most outstanding defect is the unstable of " dipper system " signal, often there will be Big Dipper receiving antenna searching less than signal on section or a direction sometime, the situation that the signal quality that perhaps searches out is poor especially.Stable signal is prerequisite and the guarantee that " dipper system " can be able to applications well.At present, also do not have good technology to solve the problem of " dipper system " jitter, this problem is one of key factor of restriction " dipper system " development, should obtain the attention of height and give corresponding countermeasure going to solve.
Summary of the invention
Problem for prior art exists, the invention provides a kind of optimizing of satellite-signal based on dipper system system, comprises host computer, intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system, electric power system and supervisory system;
The intelligent barrier avoiding dolly comprises motor drive module, servo driving module, laser radar module and motion-control module, the output terminal of laser radar module connects the input end of motion-control module, and the different output terminals of motion-control module connect respectively the input end of motor drive module and the input end of servo driving module;
Described passive big dipper system comprises Big Dipper receiving antenna, radio-frequency module, FPGA and DSP, Big Dipper receiving antenna is fixedly mounted on the intelligent barrier avoiding dolly, the output terminal of Big Dipper receiving antenna connects the input end of radio-frequency module, the output terminal of radio-frequency module connects the input end of FPGA, and the output terminal of FPGA connects the input end of DSP;
Described antenna attitude control system comprises driver module, ultrasonic sensor and arm processor; The output terminal of DSP connects the input end of arm processor, two different output terminals of arm processor connect respectively the input end of host computer and driver module, the output terminal of driver module connects the input end of Big Dipper receiving antenna, and the luffing angle that is used for surveying Big Dipper receiving antenna is connected the output terminal of ultrasonic sensor and is connected the input end of arm processor with the orientation state;
Described electric power system comprises solar battery group and solar-electricity pool controller, each solar cell in solar battery group is in parallel, the solar-electricity pool controller is connected with solar battery group, and the input end of solar-electricity pool controller is connected with the output terminal of DSP;
Described intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system are powered by electric power system, and in solar battery group, the output terminal of each solar cell connects respectively intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system;
Described supervisory system comprises surveillance equipment, transmission equipment and display device, and surveillance equipment is placed in the environmental field of intelligent barrier avoiding moving of car, and the output terminal of surveillance equipment is connected to display device by transmission equipment.
The method that adopts the described optimizing of satellite-signal based on dipper system system to carry out the satellite-signal optimizing comprises the following steps:
Step 1:DSP judges whether the power supply of intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system and supervisory system is normal: is, performs step 3, and no, perform step 2;
Step 2: control solar cell by the solar-electricity pool controller intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system and supervisory system are powered;
Step 3: in intelligent barrier avoiding moving of car process, by the laser radar module, survey in real time barrier in the moving of car environment, realize intelligent barrier avoiding in intelligent barrier avoiding dolly moving process, simultaneously, supervisory system is to intelligent barrier avoiding moving of car real-time process monitoring;
Step 4: Big Dipper receiving antenna receives current satellite-signal in real time, and this satellite-signal is sent to FPGA through radio-frequency module;
Step 5:FPGA carries out demodulation to satellite-signal, and sends the signal after demodulation to DSP;
Step 6:DSP positions to the received signal to resolve with the time and revises, thereby complete time service, and this time service information is transferred to arm processor preserves, simultaneously, ultrasonic sensor gathers luffing angle and the orientation status information of Big Dipper receiving antenna current time and transfers to arm processor and preserves;
Described time service information comprises intelligent barrier avoiding dolly current time positional information, current time information and signal strength information;
Luffing angle and the orientation status information of the time service information that step 7:ARM processor will be preserved and Big Dipper receiving antenna current time are sent to host computer;
Step 8:ARM processor adopting signal optimizing learning algorithm, predict the scope that next optimum satellite-signal constantly may occur, and then search out optimum satellite-signal;
Concrete steps are as follows:
Luffing angle and the orientation status information of the time service information in each moment that step 8.1:ARM processor will receive and corresponding Big Dipper receiving antenna thereof are carried out normalized;
Step 8.2: with the sample data of the data after normalized as signal optimizing study;
Step 8.3: the scope that next optimum satellite-signal constantly may occur is predicted according to the sample data of signal optimizing study;
Step 8.3.1: set satellite-signal hunting zone, the traffic congestion degree factor, signal strength threshold, maximum searching times and stagnate parameter;
Described stagnation parameter refers in the search of satellite signals process, and continuous several times surpasses the number of times of signal strength threshold;
Step 8.3.2: the sample data to signal optimizing study is searched for, if in the search of satellite signals process, in certain scope, satellite-signal intensity continuous several times surpasses signal strength threshold, and this number of times reaches while stagnating parameter, this scope is the scope that next optimum satellite-signal constantly may occur, execution step 8.4; Otherwise, execution step 8.3.3;
Step 8.3.3: whether the searching times that judges the sample data of current demand signal optimizing study reaches maximum searching times, is, performs step 8.3.4, otherwise continues search;
Step 8.3.4: the signal intensity that compares each satellite-signal in the satellite-signal hunting zone, optimum satellite-signal intensity is transferred to DSP, the current time positional information of the satellite of this signal strength information, correspondence and current time information form time service information, be sent to respectively arm processor and host computer, execution step 8.1;
Step 8.4: adopt neural network algorithm, the optimum satellite-signal in the scope that may occur next optimum satellite-signal constantly carries out e-learning, obtains next optimum satellite-signal prediction of strength value constantly, namely searches out optimum satellite-signal;
The positional information of the location point that the signal intensity of the optimum satellite-signal that step 9:ARM processor will search out and this signal intensity are corresponding is sent to driver module in the antenna attitude control system and the motion-control module of intelligent barrier avoiding dolly simultaneously;
The positional information of the location point that described signal intensity is corresponding converts the positional information of intelligent barrier avoiding dolly and luffing angle and the orientation status information of Big Dipper receiving antenna to, the positional information of intelligent barrier avoiding dolly is sent to the motion-control module of intelligent barrier avoiding dolly, and the luffing angle of Big Dipper receiving antenna and orientation status information are sent to the driver module in the antenna attitude control system;
Step 10: the moving control module for controlling intelligent barrier avoiding dolly of intelligent barrier avoiding dolly moves in the scope that optimum satellite-signal may occur;
Step 11: the driver module in the antenna attitude control system is adjusted the attitude of Big Dipper receiving antenna according to the information that receives, and makes the receive direction of Big Dipper receiving antenna in the scope that optimum satellite-signal may occur best;
Step 12: when Big Dipper receiving antenna received satellite-signal, DSP reached arm processor with the time service information of this satellite-signal and preserves;
Step 13:ARM processor is uploaded the state parameter of current system operation to host computer, this state parameter comprises: scope and current optimum satellite-signal time service information that next optimum satellite-signal of the moment of signal optimizing algorithm prediction may occur;
Step 14: the state parameter that operating personnel can move according to the current system that host computer receives, satellite-signal optimizing system is controlled in real time, when system power supply is undesired, can send steering order to DSP by host computer, control solar cell system is powered.
Beneficial effect:
A kind of receiving antenna of intelligent signal based on Big Dipper system of the present invention has that efficiency of energy utilization is high, the signal quality of searching satellite is good, the characteristics of system run all right.Compare with traditional " dipper system " signal receiving device,, owing to having adopted solar cell as main power source, make the energy utilization rate of native system higher than legacy system 15% left and right.system adopts FPGA, the integrated networked control systems that the DSP microprocessor forms, modules is control effectively, adopt the signal optimizing algorithm to predict the state parameter of system operation and the mass parameter of satellite-signal, overcome satellite-signal unstable, steering order is carried out the shortcoming that lags behind, combination based on packaged type dolly and the Big Dipper receiving antenna of radar laser, broken through traditional receiving antenna technology, be transformed into initiatively searching modes by passive receiving mode, satellite-signal that can the intelligent-tracking high-quality, the quality of the satellite-signal that receives and the stability of system operation have greatly been improved.
Description of drawings
Fig. 1 is the system global structure figure of the specific embodiment of the invention;
Fig. 2 is the control principle drawing of the servo driving module of the specific embodiment of the invention;
Fig. 3 is the moving control module for controlling schematic diagram of the specific embodiment of the invention;
Fig. 4 is the signal modulation circuit schematic diagram of the specific embodiment of the invention;
Fig. 5 is the triangular wave disturbing signal circuit for generating schematic diagram of the specific embodiment of the invention;
Fig. 6 is the optimization method of the satellite-signal based on the dipper system process flow diagram of the specific embodiment of the invention;
Fig. 7 is the signal optimizing algorithm process flow diagram of the specific embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.
As shown in Figure 1, the optimizing of the satellite-signal based on the dipper system system of present embodiment, comprise host computer, intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system, electric power system and supervisory system;
The intelligent barrier avoiding dolly comprises motor drive module, servo driving module, laser radar module and motion-control module, the output terminal of laser radar module connects the input end of motion-control module, and the different output terminals of motion-control module connect respectively the input end of motor drive module and the input end of servo driving module.Survey intelligent barrier avoiding dolly environment on every side by laser radar sensor, according to the signal that detects, signal is passed in motion-control module, motion-control module is controlled motor drive module and servo driving module according to signal, to realize the motion of advancing, retreat, turning of intelligent barrier avoiding dolly, thereby get around smoothly barrier.
Motor drive module adopts direct current motor, provides power for the intelligent barrier avoiding moving of car under various speed.This module forms H bridge type motor-drive circuit with pliotron, and utilize the PWM ripple to realize effective value size and the polarity of output voltage are controlled, this mode of speed regulation have governor control characteristics good, adjust the advantages such as level and smooth, that speed adjustable range is wide, overload capacity is large, can bear frequently load shock, energy consumption is little, can also realize the advantage such as stepless quick startup and counter-rotating frequently.
The servo driving module is contained on the connecting rod of front-wheel (deflecting roller) of intelligent barrier avoiding dolly, and the vertical rotation of servo driving module is converted to the rotation of connecting rod, then the left/right rotation that drives front-wheel to.The servo driving module is a kind of driver of position servo, its principle of work is: control signal and steering wheel position feed back signal are relatively, obtain dc offset voltage, bias voltage entering signal modulation chip produces a comparative level, after pwm chip UC1637, export the pwm signal of certain dutycycle, be used for driving the break-make of IGBT in the IPM circuit, thereby realize the control of electric steering engine position, the control principle of servo driving module as shown in Figure 2.
The laser radar module is equivalent to a sensor, this module is arranged on direct current motor (motor drive module) with scrambler, laser radar range finding is from, scrambler measuring angle, and direct current motor drives the laser radar module and rotates and just can construct environmental information on every side a week like this.
Motion-control module adopts the MCUMB95F506 controller of FM3 (FujitsuArm-cortesm3) series of company of Foxconn, after MCUMB95F506 had carried high precision and the high-speed A/D converter of 12 (+/-2LSB1.0 μ s conversion), the sampling with high precision of microcontroller made motor control more accurate.The passage of 3 12 A/D in unit of controller is 16 tunnels nearly, more can improve the accuracy of positional precision and motor control.MCUMB95F506 by different I/O pin respectively with motor drive module, servo driving module and laser radar module are carried out serial communication, MCUMB95F506 makes control decision by the signal that the detection laser radar module collects, thereby control motor and steering wheel to realize the quick of intelligent barrier avoiding dolly, stable, correct motion, the control principle of MCUMB95F506 as shown in Figure 3, when barrier having been detected, turned by servo driving module controls intelligent barrier avoiding dolly, otherwise former speed is advanced, when the track that occurs advancing in the process of advancing departs from, by the motor drive module adjustment of slowing down, otherwise still advance in tempo, reach home until the intelligent barrier avoiding dolly detected, stop motion.
The passive big dipper system comprises Big Dipper receiving antenna, radio-frequency module, FPGA and DSP, Big Dipper receiving antenna is fixedly mounted on the intelligent barrier avoiding dolly, the output terminal of Big Dipper receiving antenna connects the input end of radio-frequency module, the output terminal of radio-frequency module connects the input end of FPGA, and the output terminal of FPGA connects the input end of DSP;
The passive big dipper system is based on " No. one, the Big Dipper " system, realize the function of location, time service by passive mode, Big Dipper receiving antenna module adopts external antenna, Big Dipper receiving antenna model is DY-BDTRT06P00A, this antenna is the right-hand polarization ceramic dielectric, and Big Dipper receiving antenna module comprises: ceramic antenna, low noise signaling module, cable and joint.Radio-frequency module adopts the radio-frequency module of Aeroflex3030PXI series, and this module can high precision, high dynamic range is carried out frequency-change sampling to radiofrequency signal.
The passive big dipper system of present embodiment adopts FPGA and DSP to carry out data and processes, and FPGA adopts the EP2C35F484 of altera corp, and it and radio-frequency module are realized asynchronous communication by UART; DSP adopts the TMS320VC5509A of TI company.The EMIF signal wire of DSP is all received on FPGA, realizes both transmission of information.
The antenna attitude control system comprises driver module, ultrasonic sensor and arm processor; The output terminal of DSP connects the input end of arm processor, two different output terminals of arm processor connect respectively the input end of host computer and driver module, the output terminal of driver module connects the input end of Big Dipper receiving antenna, and the luffing angle that is used for surveying Big Dipper receiving antenna is connected the output terminal of ultrasonic sensor and is connected the input end of arm processor with the orientation state.
The model of ultrasonic sensor is SIEMENS 3RG6024-3ACOO, driver module adopts the driving chip L298N of SGS (Tongbiao Standard Technology Service Co., Ltd) exploitation, this module can provide power for the motion of Big Dipper receiving antenna, to realize the accessible rotation of freedom of Big Dipper receiving antenna 360 degree.
Arm processor comprises ARMCortexA9 processor and peripheral module thereof, implant the satellite-signal optimizing algorithm in the ARMCortexA9 processor and be used for controlling the attitude of Big Dipper receiving antenna,, to realize the automatic optimal real-time follow-up of Big Dipper receiving antenna, guarantee all the time the Optimal Signals of satellite to be fed back to the DSP of passive big dipper system and complete the time service task.Arm processor and DSP communicate by the twoport serial ports, the arm processor peripheral module comprises that voltage and current sample modular converter, signal modulation circuit, triangular wave disturbing signal produce circuit, deposit module and communication module, the voltage and current sample modular converter comprises voltage sensor and current sensor, as shown in Figure 4, triangular wave disturbing signal circuit for generating principle as shown in Figure 5 for the signal modulation circuit principle.Deposit module major storage system running state parameter, select IS61LV16416 model storer, 41,17, No. 6 pins of memory circuitry connect 42,84, No. 33 pins of arm processor chip.Communication module adopts the MAX485 chip, mainly is responsible for the communication between arm processor and host computer, and this chip employing RS485 agreement is set up the communications protocol between arm processor and host computer.Host computer is connected with SCI/RXD, PC2, the SCI/TXD pin of ARMCortexA9 processor by pin RO, RE, the DI of communication module MAX485, the MAX485 socket is connected with the host computer serial ports by signal wire, carry out integrated control by arm processor, and, with communication function, can realize Long-distance Control.
The current satellite-signal of the real-time reception of Big Dipper receiving antenna transfers to FPGA and carries out the signal processing, obtain the demodulation of satellite navigation message, and send the signal after demodulation to DSP, DSP carries out collection and the processing of the signal after demodulation, realize that positioning calculation and time modified value resolve, coordinate FPGA to produce accurate pulse per second (PPS), under pulse per second (PPS) drives, calculate current time information, and with this communication to arm processor; Receive time information by arm processor, arm processor is sent to host computer with luffing angle and the orientation status information of time service information and Big Dipper receiving antenna current time, the scope that may occur next optimum satellite-signal is constantly simultaneously predicted, and then search out optimum satellite-signal, and optimum satellite-signal is fed back to DSP, complete time service, finally by the communication module while of DSP periphery, upload the time service information of optimum satellite-signal to host computer and arm processor.Arm processor passes to driver module with information, driver module is made the attitude of replying and then control Big Dipper receiving antenna by the parsing to information, realize the accessible rotation of freedom of Big Dipper receiving antenna 360 degree, utilize ultrasonic sensor to survey pitching and the orientation state of Big Dipper receiving antenna, feed back in real time DSP and by ARM, by serial ports, send host computer to.
Electric power system comprises solar battery group and solar-electricity pool controller, and each solar cell in solar battery group is in parallel, and the solar-electricity pool controller is connected with solar battery group, and the input end of solar-electricity pool controller is connected with the output terminal of DSP; Intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system are powered by electric power system, and in solar battery group, the output terminal of each solar cell connects respectively intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system;
Electric power system is that sun power is changed into electric energy and stores, and serves as supplementary power supply when electric energy is in short supply, and the solar-electricity pool controller is controlled the solar cell state.Supply with the electric weight of each system when too high when solar cell, send the PWM ripple by DSP and make charge switch closed, solar cell serves as DC load, absorbs unnecessary electric energy and storage; Otherwise discharge switch is closed, and solar cell continues to each system power supply.
Supervisory system comprises surveillance equipment, transmission equipment and display device, and surveillance equipment adopts Siemens's video camera, and this equipment is placed in the environmental field of intelligent barrier avoiding moving of car, and the output terminal of surveillance equipment is connected to display device by transmission equipment.
Surveillance equipment is placed near the intelligent barrier avoiding dolly that is loading Big Dipper receiving antenna, to realize the Real Time Monitoring to Big Dipper receiving antenna, intelligent barrier avoiding moving of car.Transmission equipment adopts optical fiber, by the vision signal of surveillance equipment output, by Optical Fiber Transmission, passes to display device.Display device comprises hard disk recording system, video matrix, picture processor, switch and divider Remote expend system, can observe in real time the ruuning situation of Big Dipper receiving antenna state and intelligent barrier avoiding moving of car.
Present embodiment is that the satellite-signal optimizing system based on dipper system is positioned on the roof platform of high building, and the method that adopts the above-mentioned optimizing of the satellite-signal based on dipper system system to carry out the satellite-signal optimizing as shown in Figure 6, comprises the following steps:
Step 1:DSP judges whether the power supply of intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system and supervisory system is normal: is, performs step 3, and no, perform step 2;
Step 2: control solar cell by the solar-electricity pool controller intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system and supervisory system are powered;
Solar cell changes into sun power electric energy and stores, and serves as supplementary power supply when electric energy is in short supply, and the solar-electricity pool controller is controlled the solar cell state.Supply with the electric weight of each system when too high when solar cell, send the PWM ripple by DSP and make charge switch closed, solar cell serves as DC load, absorbs unnecessary electric energy and storage; Otherwise discharge switch is closed, and solar cell continues to each system power supply.
Step 3: in intelligent barrier avoiding moving of car process, by the laser radar module, survey in real time barrier in the moving of car environment, realize intelligent barrier avoiding in intelligent barrier avoiding dolly moving process, simultaneously, supervisory system is to intelligent barrier avoiding moving of car real-time process monitoring;
Step 4: Big Dipper receiving antenna receives current satellite-signal in real time, and this satellite-signal is sent to FPGA through radio-frequency module;
Step 5:FPGA carries out demodulation to satellite-signal, and sends the signal after demodulation to DSP;
Step 6:DSP positions to the received signal to resolve with the time and revises, thereby complete time service, and this time service information is transferred to arm processor preserves, simultaneously, ultrasonic sensor gathers luffing angle and the orientation status information of Big Dipper receiving antenna current time and transfers to arm processor and preserves;
Time service information comprises intelligent barrier avoiding dolly current time positional information, current time information and signal strength information;
Luffing angle and the orientation status information of the time service information that step 7:ARM processor will be preserved and Big Dipper receiving antenna current time are sent to host computer;
Step 8:ARM processor adopting signal optimizing learning algorithm, predict the scope that next optimum satellite-signal constantly may occur, and then search out optimum satellite-signal;
Signal optimizing learning algorithm is that the basic artificial fish-swarm algorithm in prior art improves and obtains, as shown in Figure 7, arm processor adopts signal optimizing learning algorithm, the scope that next optimum satellite-signal constantly may occur is predicted, and then it is as follows to search out the concrete steps of optimum satellite-signal:
Luffing angle and the orientation status information of the time service information in each moment that step 8.1:ARM processor will receive and corresponding Big Dipper receiving antenna thereof are carried out normalized;
Step 8.2: with the sample data of the data after normalized as signal optimizing study;
Step 8.3: the scope that next optimum satellite-signal constantly may occur is predicted according to the sample data of signal optimizing study;
Step 8.3.1: set satellite-signal hunting zone, the traffic congestion degree factor, signal strength threshold, maximum searching times and stagnate parameter;
Described stagnation parameter refers in the search of satellite signals process, and continuous several times surpasses the number of times of signal strength threshold;
Step 8.3.2: the sample data to signal optimizing study is searched for, if in the search of satellite signals process, in certain scope, satellite-signal intensity continuous several times surpasses signal strength threshold, and this number of times reaches while stagnating parameter, this scope is the scope that next optimum satellite-signal constantly may occur, execution step 8.4; Otherwise, execution step 8.3.3;
Step 8.3.3: whether the searching times that judges the sample data of current demand signal optimizing study reaches maximum searching times, is, performs step 8.3.4, otherwise continues search;
Step 8.3.4: the signal intensity that compares each satellite-signal in the satellite-signal hunting zone, optimum satellite-signal intensity is transferred to DSP, the current time positional information of the satellite of this signal strength information, correspondence and current time information form time service information, be sent to respectively arm processor and host computer, execution step 8.1;
Step 8.4: the optimum satellite-signal in the scope that may occur next optimum satellite-signal is constantly learnt, and obtains next optimum satellite-signal prediction of strength value constantly, namely searches out optimum satellite-signal;
Signal optimizing algorithm learning rules are: the current state of certain satellite-signal point is X
i, (be d in the scope that optimum satellite-signal may occur
ij≤ VISUAL) select at random a satellite-signal, its state is X
j, when this random satellite signal intensity, during greater than current satellite-signal intensity, to this random satellite sense, take a step forward; Otherwise, again select at random satellite-signal, judge whether to meet the above-mentioned condition of advancing; Repeatedly several times after, if still do not meet the progress bar part move and move a step at random, learning rules are expressed as follows:
d
ij≤VISUAL：
Wherein:
d
ij=|| X
i-X
j||---the distance between the satellite-signal point of adjacent twice search, i.e. vector (X
i-X
j) two norms;
VISUAL---satellite-signal hunting zone, the i.e. optimum satellite-signal scope that may occur;
X=(x
1, x
2..., x
i)---the state vector of each signaling point of satellite-signal, wherein, x
iControl variable for optimizing;
x
jk---state vector X
jK parameter;
x
ik---state vector X
iK parameter;
Random (Δ)---the random number between [0, Δ];
Δ---the difference of the strongest and weak signal during search of satellite signals;
FC
i---the current satellite-signal intensity that receives;
FC
j---the satellite-signal intensity of random search next time;
The positional information of the location point that the signal intensity of the optimum satellite-signal that step 9:ARM processor will search out and this signal intensity are corresponding is sent to driver module in the antenna attitude control system and the motion-control module of intelligent barrier avoiding dolly simultaneously;
The positional information of the location point that described signal intensity is corresponding converts the positional information of intelligent barrier avoiding dolly and luffing angle and the orientation status information of Big Dipper receiving antenna to, the positional information of intelligent barrier avoiding dolly is sent to the motion-control module of intelligent barrier avoiding dolly, and the luffing angle of Big Dipper receiving antenna and orientation status information are sent to the driver module in the antenna attitude control system;
Step 10: the moving control module for controlling intelligent barrier avoiding dolly of intelligent barrier avoiding dolly moves in the scope that optimum satellite-signal may occur;
Step 11: the driver module in the antenna attitude control system is adjusted the attitude of Big Dipper receiving antenna according to the information that receives, and makes the receive direction of Big Dipper receiving antenna in the scope that optimum satellite-signal may occur best;
Step 12: when Big Dipper receiving antenna received satellite-signal, DSP reached arm processor with the time service information of this satellite-signal and preserves;
Step 13:ARM processor is uploaded the state parameter of current system operation to host computer, this state parameter comprises: scope and current optimum satellite-signal time service information that next optimum satellite-signal of the moment of signal optimizing algorithm prediction may occur;
Step 14: the state parameter that operating personnel can move according to the current system that host computer receives, satellite-signal optimizing system is controlled in real time, when system power supply is undesired, can send steering order to DSP by host computer, control solar cell system is powered.
Claims (2)
1. the optimizing of the satellite-signal based on dipper system system, comprise host computer and intelligent barrier avoiding dolly, described intelligent barrier avoiding dolly comprises motor drive module, servo driving module, laser radar module and motion-control module, the output terminal of laser radar module connects the input end of motion-control module, the different output terminals of motion-control module connect respectively the input end of motor drive module and the input end of servo driving module, it is characterized in that: this system also comprises passive big dipper system, antenna attitude control system, electric power system and supervisory system;
Described passive big dipper system comprises Big Dipper receiving antenna, radio-frequency module, FPGA and DSP, Big Dipper receiving antenna is fixedly mounted on the intelligent barrier avoiding dolly, the output terminal of Big Dipper receiving antenna connects the input end of radio-frequency module, the output terminal of radio-frequency module connects the input end of FPGA, and the output terminal of FPGA connects the input end of DSP;
Described antenna attitude control system comprises driver module, ultrasonic sensor and arm processor; The output terminal of DSP connects the input end of arm processor, two different output terminals of arm processor connect respectively the input end of host computer and driver module, the output terminal of driver module connects the input end of Big Dipper receiving antenna, and the luffing angle that is used for surveying Big Dipper receiving antenna is connected the output terminal of ultrasonic sensor and is connected the input end of arm processor with the orientation state;
Described electric power system comprises solar battery group and solar-electricity pool controller, each solar cell in solar battery group is in parallel, the solar-electricity pool controller is connected with solar battery group, and the input end of solar-electricity pool controller is connected with the output terminal of DSP;
Described intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system are powered by electric power system, and in solar battery group, the output terminal of each solar cell connects respectively intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system;
Described supervisory system comprises surveillance equipment, transmission equipment and display device, and surveillance equipment is placed in the environmental field of intelligent barrier avoiding moving of car, and the output terminal of surveillance equipment is connected to display device by transmission equipment.
2. the method that adopts the optimizing of the satellite-signal based on dipper system system claimed in claim 1 to carry out the satellite-signal optimizing is characterized in that: comprise the following steps:
Step 1:DSP judges whether the power supply of intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system and supervisory system is normal: is, performs step 3, and no, perform step 2;
Step 2: control solar cell by the solar-electricity pool controller intelligent barrier avoiding dolly, passive big dipper system, antenna attitude control system and supervisory system are powered;
Step 3: in intelligent barrier avoiding moving of car process, by the laser radar module, survey in real time barrier in the moving of car environment, realize intelligent barrier avoiding in intelligent barrier avoiding dolly moving process, simultaneously, supervisory system is to intelligent barrier avoiding moving of car real-time process monitoring;
Step 4: Big Dipper receiving antenna receives current satellite-signal in real time, and this satellite-signal is sent to FPGA through radio-frequency module;
Step 5:FPGA carries out demodulation to satellite-signal, and sends the signal after demodulation to DSP;
Step 6:DSP positions to the received signal to resolve with the time and revises, thereby complete time service, and this time service information is transferred to arm processor preserves, simultaneously, ultrasonic sensor gathers luffing angle and the orientation status information of Big Dipper receiving antenna current time and transfers to arm processor and preserves;
Described time service information comprises intelligent barrier avoiding dolly current time positional information, current time information and signal strength information;
Luffing angle and the orientation status information of the time service information that step 7:ARM processor will be preserved and Big Dipper receiving antenna current time are sent to host computer;
Step 8:ARM processor adopting signal optimizing learning algorithm, predict the scope that next optimum satellite-signal constantly may occur, and then search out optimum satellite-signal;
Concrete steps are as follows:
Luffing angle and the orientation status information of the time service information in each moment that step 8.1:ARM processor will receive and corresponding Big Dipper receiving antenna thereof are carried out normalized;
Step 8.2: with the sample data of the data after normalized as signal optimizing study;
Step 8.3: the scope that next optimum satellite-signal constantly may occur is predicted according to the sample data of signal optimizing study;
Step 8.3.1: set satellite-signal hunting zone, the traffic congestion degree factor, signal strength threshold, maximum searching times and stagnate parameter;
Described stagnation parameter refers in the search of satellite signals process, and continuous several times surpasses the number of times of signal strength threshold;
Step 8.3.2: the sample data to signal optimizing study is searched for, if in the search of satellite signals process, in certain scope, satellite-signal intensity continuous several times surpasses signal strength threshold, and this number of times reaches while stagnating parameter, this scope is the scope that next optimum satellite-signal constantly may occur, execution step 8.4; Otherwise, execution step 8.3.3;
Step 8.3.3: whether the searching times that judges the sample data of current demand signal optimizing study reaches maximum searching times, is, performs step 8.3.4, otherwise continues search;
Step 8.3.4: the signal intensity that compares each satellite-signal in the satellite-signal hunting zone, optimum satellite-signal intensity is transferred to DSP, the current time positional information of the satellite of this signal strength information, correspondence and current time information form time service information, be sent to respectively arm processor and host computer, execution step 8.1;
Step 8.4: the optimum satellite-signal in the scope that may occur next optimum satellite-signal is constantly learnt, and obtains next optimum satellite-signal prediction of strength value constantly, namely searches out optimum satellite-signal;
The positional information of the location point that the signal intensity of the optimum satellite-signal that step 9:ARM processor will search out and this signal intensity are corresponding is sent to driver module in the antenna attitude control system and the motion-control module of intelligent barrier avoiding dolly simultaneously;
The positional information of the location point that described signal intensity is corresponding converts the positional information of intelligent barrier avoiding dolly and luffing angle and the orientation status information of Big Dipper receiving antenna to, the positional information of intelligent barrier avoiding dolly is sent to the motion-control module of intelligent barrier avoiding dolly, and the luffing angle of Big Dipper receiving antenna and orientation status information are sent to the driver module in the antenna attitude control system;
Step 10: the moving control module for controlling intelligent barrier avoiding dolly of intelligent barrier avoiding dolly moves in the scope that optimum satellite-signal may occur;
Step 11: the driver module in the antenna attitude control system is adjusted the attitude of Big Dipper receiving antenna according to the information that receives, and makes the receive direction of Big Dipper receiving antenna in the scope that optimum satellite-signal may occur best;
Step 12: when Big Dipper receiving antenna received satellite-signal, DSP reached arm processor with the time service information of this satellite-signal and preserves;
Step 13:ARM processor is uploaded the state parameter of current system operation to host computer, this state parameter comprises: scope and current optimum satellite-signal time service information that next optimum satellite-signal of the moment of signal optimizing algorithm prediction may occur;
Step 14: the state parameter that operating personnel can move according to the current system that host computer receives, satellite-signal optimizing system is controlled in real time, when system power supply is undesired, can send steering order to DSP by host computer, control solar cell system is powered.
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